Add asset kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6

.gitattributes

@@ -8370,4 +8370,4 @@ dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/affordance/me
 dataset/kitchen_supplies/cookware/915b223c60d1556baf50c4ee3c1947a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/be302451501a524489fa951b2040efe0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "pot body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to lift the pot when the handles are inaccessible",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "clamp the body to stabilize the pot during placement or repositioning",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support cooking vessel shape",
+                "offer side surface for stabilization"
+            ],
+            "semantic_description": "Large cylindrical silver metal body with a brushed to semi-gloss finish, hard smooth surface, and deep open form making up most of the pot.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pot handles",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle to lift or carry the pot",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold both handles with two grippers to move the pot levelly",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp one handle to rotate or reposition the pot",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "lift the pot",
+                "stabilize while pouring or moving",
+                "enable two-sided carrying"
+            ],
+            "semantic_description": "Two looped silver metal side handles with a hard smooth slightly reflective finish, medium thickness, and outward-protruding rectangular shape attached near the upper sides.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim of pot",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rolled rim to steady or slightly reposition the empty pot",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the rim area when stacking or unstacking nested pots",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "define opening",
+                "support pouring edge",
+                "stiffen the top edge",
+                "help align lids or stacked pots"
+            ],
+            "semantic_description": "Thin circular silver metal rim with a smooth rounded edge and slightly shinier finish, running around the top opening of the pot.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f75f4ab5f72182c31708aebfb34a4106f304a902cd2106dd51596c9876a840
+size 1596508

dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.urdf

@@ -52,6 +52,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
    </custom_data>
 </robot>